<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::VoxelGridCovariance&lt; PointT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_voxel_grid_covariance.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_voxel_grid_covariance-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::VoxelGridCovariance&lt; PointT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p>A searchable voxel strucure containing the mean and covariance of the data.  
 <a href="classpcl_1_1_voxel_grid_covariance.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="voxel__grid__covariance_8h_source.html">voxel_grid_covariance.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::VoxelGridCovariance&lt; PointT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_voxel_grid_covariance.png" usemap="#pcl::VoxelGridCovariance_3C_20PointT_20_3E_map" alt=""/>
  <map id="pcl::VoxelGridCovariance_3C_20PointT_20_3E_map" name="pcl::VoxelGridCovariance_3C_20PointT_20_3E_map">
<area href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data." alt="pcl::VoxelGrid&lt; PointT &gt;" shape="rect" coords="0,112,216,136"/>
<area href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface." alt="pcl::Filter&lt; PointT &gt;" shape="rect" coords="0,56,216,80"/>
<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,216,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple structure to hold a centroid, covarince and the number of points in a leaf. Inverse covariance, eigen vectors and engen values are precomputed.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:aad036c5dd01cdc87750c7adb923c1694"><td class="memItemLeft" align="right" valign="top"><a id="aad036c5dd01cdc87750c7adb923c1694"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:aad036c5dd01cdc87750c7adb923c1694"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0626f84f4723bdf69ae30fbf17f4c45a"><td class="memItemLeft" align="right" valign="top"><a id="a0626f84f4723bdf69ae30fbf17f4c45a"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a0626f84f4723bdf69ae30fbf17f4c45a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0bd38d342ecd82dac27f97e109ddf0a"><td class="memItemLeft" align="right" valign="top"><a id="ab0bd38d342ecd82dac27f97e109ddf0a"></a>
typedef <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#ab0bd38d342ecd82dac27f97e109ddf0a">LeafPtr</a></td></tr>
<tr class="memdesc:ab0bd38d342ecd82dac27f97e109ddf0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to <a class="el" href="classpcl_1_1_voxel_grid_covariance.html" title="A searchable voxel strucure containing the mean and covariance of the data.">VoxelGridCovariance</a> leaf structure <br /></td></tr>
<tr class="separator:ab0bd38d342ecd82dac27f97e109ddf0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7cd5f4e0a702dfd45de8654f1a008c91"><td class="memItemLeft" align="right" valign="top"><a id="a7cd5f4e0a702dfd45de8654f1a008c91"></a>
typedef const <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a></td></tr>
<tr class="memdesc:a7cd5f4e0a702dfd45de8654f1a008c91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Const pointer to <a class="el" href="classpcl_1_1_voxel_grid_covariance.html" title="A searchable voxel strucure containing the mean and covariance of the data.">VoxelGridCovariance</a> leaf structure <br /></td></tr>
<tr class="separator:a7cd5f4e0a702dfd45de8654f1a008c91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a719a1ef5a8fc3b7f4a651a8bae51571b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01b992cf70e997979d7f653226a60ddd inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a01b992cf70e997979d7f653226a60ddd"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a01b992cf70e997979d7f653226a60ddd inherit pub_types_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f1d68bbc5f1f6b852b48b95e4673cfb inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a4f1d68bbc5f1f6b852b48b95e4673cfb"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a4f1d68bbc5f1f6b852b48b95e4673cfb inherit pub_types_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a335eb506b145ec1a09acc945b775246d inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a335eb506b145ec1a09acc945b775246d"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a335eb506b145ec1a09acc945b775246d inherit pub_types_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5796101c9166820fac3a5ca961bde255 inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a5796101c9166820fac3a5ca961bde255"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a5796101c9166820fac3a5ca961bde255 inherit pub_types_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
<tr class="separator:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
<tr class="separator:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:abf48747b6e9e08d0c4d6e8a58e1d4626"><td class="memItemLeft" align="right" valign="top"><a id="abf48747b6e9e08d0c4d6e8a58e1d4626"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#abf48747b6e9e08d0c4d6e8a58e1d4626">VoxelGridCovariance</a> ()</td></tr>
<tr class="memdesc:abf48747b6e9e08d0c4d6e8a58e1d4626"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. Sets <a class="el" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a> to 0 and <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> to false. <br /></td></tr>
<tr class="separator:abf48747b6e9e08d0c4d6e8a58e1d4626"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50572b27b4087e87dfc1087795210f3c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a50572b27b4087e87dfc1087795210f3c">setMinPointPerVoxel</a> (int min_points_per_voxel)</td></tr>
<tr class="memdesc:a50572b27b4087e87dfc1087795210f3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation).  <a href="classpcl_1_1_voxel_grid_covariance.html#a50572b27b4087e87dfc1087795210f3c">更多...</a><br /></td></tr>
<tr class="separator:a50572b27b4087e87dfc1087795210f3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1af39542299266ef3cf8a1d1ca4ea4b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#ac1af39542299266ef3cf8a1d1ca4ea4b">getMinPointPerVoxel</a> ()</td></tr>
<tr class="memdesc:ac1af39542299266ef3cf8a1d1ca4ea4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum number of points required for a cell to be used.  <a href="classpcl_1_1_voxel_grid_covariance.html#ac1af39542299266ef3cf8a1d1ca4ea4b">更多...</a><br /></td></tr>
<tr class="separator:ac1af39542299266ef3cf8a1d1ca4ea4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac037ac44ecd562b521de4f90621830fe"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#ac037ac44ecd562b521de4f90621830fe">setCovEigValueInflationRatio</a> (double min_covar_eigvalue_mult)</td></tr>
<tr class="memdesc:ac037ac44ecd562b521de4f90621830fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.  <a href="classpcl_1_1_voxel_grid_covariance.html#ac037ac44ecd562b521de4f90621830fe">更多...</a><br /></td></tr>
<tr class="separator:ac037ac44ecd562b521de4f90621830fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17fa62e127bacf0f286a49cafd3bfc65"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a17fa62e127bacf0f286a49cafd3bfc65">getCovEigValueInflationRatio</a> ()</td></tr>
<tr class="memdesc:a17fa62e127bacf0f286a49cafd3bfc65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.  <a href="classpcl_1_1_voxel_grid_covariance.html#a17fa62e127bacf0f286a49cafd3bfc65">更多...</a><br /></td></tr>
<tr class="separator:a17fa62e127bacf0f286a49cafd3bfc65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6612d6ae521e766fee6a4e2bf833f643"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, bool searchable=false)</td></tr>
<tr class="memdesc:a6612d6ae521e766fee6a4e2bf833f643"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> cloud and initializes voxel structure.  <a href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">更多...</a><br /></td></tr>
<tr class="separator:a6612d6ae521e766fee6a4e2bf833f643"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa804ee4e6a37ae37316802ffc88da8c5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#aa804ee4e6a37ae37316802ffc88da8c5">filter</a> (bool searchable=false)</td></tr>
<tr class="memdesc:aa804ee4e6a37ae37316802ffc88da8c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes voxel structure.  <a href="classpcl_1_1_voxel_grid_covariance.html#aa804ee4e6a37ae37316802ffc88da8c5">更多...</a><br /></td></tr>
<tr class="separator:aa804ee4e6a37ae37316802ffc88da8c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28f61978dec5e19460f3797d21246516"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a28f61978dec5e19460f3797d21246516">getLeaf</a> (int index)</td></tr>
<tr class="memdesc:a28f61978dec5e19460f3797d21246516"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel containing point p.  <a href="classpcl_1_1_voxel_grid_covariance.html#a28f61978dec5e19460f3797d21246516">更多...</a><br /></td></tr>
<tr class="separator:a28f61978dec5e19460f3797d21246516"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affd4b96b7686ed76c1325aa059cf692f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#affd4b96b7686ed76c1325aa059cf692f">getLeaf</a> (<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)</td></tr>
<tr class="memdesc:affd4b96b7686ed76c1325aa059cf692f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel containing point p.  <a href="classpcl_1_1_voxel_grid_covariance.html#affd4b96b7686ed76c1325aa059cf692f">更多...</a><br /></td></tr>
<tr class="separator:affd4b96b7686ed76c1325aa059cf692f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a601a5a50e9f9f4f5f5901fc4cd3302f7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a601a5a50e9f9f4f5f5901fc4cd3302f7">getLeaf</a> (Eigen::Vector3f &amp;p)</td></tr>
<tr class="memdesc:a601a5a50e9f9f4f5f5901fc4cd3302f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel containing point p.  <a href="classpcl_1_1_voxel_grid_covariance.html#a601a5a50e9f9f4f5f5901fc4cd3302f7">更多...</a><br /></td></tr>
<tr class="separator:a601a5a50e9f9f4f5f5901fc4cd3302f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab24846085f7bd621a6edf415b0226679"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#ab24846085f7bd621a6edf415b0226679">getNeighborhoodAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;reference_point, std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;neighbors)</td></tr>
<tr class="memdesc:ab24846085f7bd621a6edf415b0226679"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxels surrounding point p, not including the voxel contating point p.  <a href="classpcl_1_1_voxel_grid_covariance.html#ab24846085f7bd621a6edf415b0226679">更多...</a><br /></td></tr>
<tr class="separator:ab24846085f7bd621a6edf415b0226679"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba599d866b3289dd51e2618e71d889a0"><td class="memItemLeft" align="right" valign="top">const std::map&lt; size_t, <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#aba599d866b3289dd51e2618e71d889a0">getLeaves</a> ()</td></tr>
<tr class="memdesc:aba599d866b3289dd51e2618e71d889a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the leaf structure map  <a href="classpcl_1_1_voxel_grid_covariance.html#aba599d866b3289dd51e2618e71d889a0">更多...</a><br /></td></tr>
<tr class="separator:aba599d866b3289dd51e2618e71d889a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad940a60fb5c83b07869808c297cebab2"><td class="memItemLeft" align="right" valign="top">PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#ad940a60fb5c83b07869808c297cebab2">getCentroids</a> ()</td></tr>
<tr class="memdesc:ad940a60fb5c83b07869808c297cebab2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointcloud containing the voxel centroids  <a href="classpcl_1_1_voxel_grid_covariance.html#ad940a60fb5c83b07869808c297cebab2">更多...</a><br /></td></tr>
<tr class="separator:ad940a60fb5c83b07869808c297cebab2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:accf21aea709481f32a3ab000efde490f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#accf21aea709481f32a3ab000efde490f">getDisplayCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt; &amp;cell_cloud)</td></tr>
<tr class="memdesc:accf21aea709481f32a3ab000efde490f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a cloud to visualize each voxels normal distribution.  <a href="classpcl_1_1_voxel_grid_covariance.html#accf21aea709481f32a3ab000efde490f">更多...</a><br /></td></tr>
<tr class="separator:accf21aea709481f32a3ab000efde490f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a934c7720a7e95ad391af73691fc944b5"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">nearestKSearch</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, int k, std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances)</td></tr>
<tr class="memdesc:a934c7720a7e95ad391af73691fc944b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for the k-nearest occupied voxels for the given query point.  <a href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">更多...</a><br /></td></tr>
<tr class="separator:a934c7720a7e95ad391af73691fc944b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34fef3799cca9e6bac062d1df4d53a5f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a34fef3799cca9e6bac062d1df4d53a5f">nearestKSearch</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, int index, int k, std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances)</td></tr>
<tr class="memdesc:a34fef3799cca9e6bac062d1df4d53a5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for the k-nearest occupied voxels for the given query point.  <a href="classpcl_1_1_voxel_grid_covariance.html#a34fef3799cca9e6bac062d1df4d53a5f">更多...</a><br /></td></tr>
<tr class="separator:a34fef3799cca9e6bac062d1df4d53a5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5d605050ddda36d46f286a10469e26c1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">radiusSearch</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, double radius, std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</td></tr>
<tr class="memdesc:a5d605050ddda36d46f286a10469e26c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for all the nearest occupied voxels of the query point in a given radius.  <a href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">更多...</a><br /></td></tr>
<tr class="separator:a5d605050ddda36d46f286a10469e26c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6be928c24b72e60e272a755c91ddcf62"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a6be928c24b72e60e272a755c91ddcf62">radiusSearch</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, int index, double radius, std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</td></tr>
<tr class="memdesc:a6be928c24b72e60e272a755c91ddcf62"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for all the nearest occupied voxels of the query point in a given radius.  <a href="classpcl_1_1_voxel_grid_covariance.html#a6be928c24b72e60e272a755c91ddcf62">更多...</a><br /></td></tr>
<tr class="separator:a6be928c24b72e60e272a755c91ddcf62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a76a7dabd27331f7348aca3f20397bfbc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a76a7dabd27331f7348aca3f20397bfbc"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a76a7dabd27331f7348aca3f20397bfbc">VoxelGrid</a> ()</td></tr>
<tr class="memdesc:a76a7dabd27331f7348aca3f20397bfbc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a76a7dabd27331f7348aca3f20397bfbc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a233569b974c8eadc98f75e1ca5ef9eab inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a233569b974c8eadc98f75e1ca5ef9eab"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a233569b974c8eadc98f75e1ca5ef9eab">~VoxelGrid</a> ()</td></tr>
<tr class="memdesc:a233569b974c8eadc98f75e1ca5ef9eab inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a233569b974c8eadc98f75e1ca5ef9eab inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5d7831e665977bdce76ed05bd0005cf inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (const Eigen::Vector4f &amp;leaf_size)</td></tr>
<tr class="memdesc:aa5d7831e665977bdce76ed05bd0005cf inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">更多...</a><br /></td></tr>
<tr class="separator:aa5d7831e665977bdce76ed05bd0005cf inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf15a6f5cc058b790be6557c4fb11022 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">setLeafSize</a> (float lx, float ly, float lz)</td></tr>
<tr class="memdesc:adf15a6f5cc058b790be6557c4fb11022 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">更多...</a><br /></td></tr>
<tr class="separator:adf15a6f5cc058b790be6557c4fb11022 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6766e862450a1d8a45301280e156ba6c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a6766e862450a1d8a45301280e156ba6c"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a6766e862450a1d8a45301280e156ba6c">getLeafSize</a> ()</td></tr>
<tr class="memdesc:a6766e862450a1d8a45301280e156ba6c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel grid leaf size. <br /></td></tr>
<tr class="separator:a6766e862450a1d8a45301280e156ba6c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1694d46442c66f7071235a8571dd602a inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a> (bool downsample)</td></tr>
<tr class="memdesc:a1694d46442c66f7071235a8571dd602a inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ.  <a href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">更多...</a><br /></td></tr>
<tr class="separator:a1694d46442c66f7071235a8571dd602a inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af88dc139ffea89a7a400c5c39c087099 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="af88dc139ffea89a7a400c5c39c087099"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#af88dc139ffea89a7a400c5c39c087099">getDownsampleAllData</a> ()</td></tr>
<tr class="memdesc:af88dc139ffea89a7a400c5c39c087099 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). <br /></td></tr>
<tr class="separator:af88dc139ffea89a7a400c5c39c087099 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaed8373030c2ec0ec7571a7851d37c2c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">setMinimumPointsNumberPerVoxel</a> (unsigned int min_points_per_voxel)</td></tr>
<tr class="memdesc:aaed8373030c2ec0ec7571a7851d37c2c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of points required for a voxel to be used.  <a href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">更多...</a><br /></td></tr>
<tr class="separator:aaed8373030c2ec0ec7571a7851d37c2c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f16d806b45978fa67c4a69e4d025938 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a7f16d806b45978fa67c4a69e4d025938"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a7f16d806b45978fa67c4a69e4d025938">getMinimumPointsNumberPerVoxel</a> ()</td></tr>
<tr class="memdesc:a7f16d806b45978fa67c4a69e4d025938 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the minimum number of points required for a voxel to be used. <br /></td></tr>
<tr class="separator:a7f16d806b45978fa67c4a69e4d025938 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabb07bacf03039f40d256b36ee2dd495 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">setSaveLeafLayout</a> (bool save_leaf_layout)</td></tr>
<tr class="memdesc:aabb07bacf03039f40d256b36ee2dd495 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if leaf layout information needs to be saved for later access.  <a href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">更多...</a><br /></td></tr>
<tr class="separator:aabb07bacf03039f40d256b36ee2dd495 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3d7e68ede5c712c036fd2237795f3bb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ae3d7e68ede5c712c036fd2237795f3bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ae3d7e68ede5c712c036fd2237795f3bb">getSaveLeafLayout</a> ()</td></tr>
<tr class="memdesc:ae3d7e68ede5c712c036fd2237795f3bb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if leaf layout information will to be saved for later access. <br /></td></tr>
<tr class="separator:ae3d7e68ede5c712c036fd2237795f3bb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a69443c2cde9e6ee5d5eccfe1e37adccc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a69443c2cde9e6ee5d5eccfe1e37adccc"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a69443c2cde9e6ee5d5eccfe1e37adccc">getMinBoxCoordinates</a> ()</td></tr>
<tr class="memdesc:a69443c2cde9e6ee5d5eccfe1e37adccc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum coordinates of the bounding box (after filtering is performed). <br /></td></tr>
<tr class="separator:a69443c2cde9e6ee5d5eccfe1e37adccc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac344416d7cd23ffbd0732a9e3e6c0ec5 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ac344416d7cd23ffbd0732a9e3e6c0ec5"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ac344416d7cd23ffbd0732a9e3e6c0ec5">getMaxBoxCoordinates</a> ()</td></tr>
<tr class="memdesc:ac344416d7cd23ffbd0732a9e3e6c0ec5 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum coordinates of the bounding box (after filtering is performed). <br /></td></tr>
<tr class="separator:ac344416d7cd23ffbd0732a9e3e6c0ec5 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdd69e5c0290757f44d64c7c69384d17 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="afdd69e5c0290757f44d64c7c69384d17"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#afdd69e5c0290757f44d64c7c69384d17">getNrDivisions</a> ()</td></tr>
<tr class="memdesc:afdd69e5c0290757f44d64c7c69384d17 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of divisions along all 3 axes (after filtering is performed). <br /></td></tr>
<tr class="separator:afdd69e5c0290757f44d64c7c69384d17 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ac7ed575c8b7fc8a47e774e9cec2065 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a5ac7ed575c8b7fc8a47e774e9cec2065"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a5ac7ed575c8b7fc8a47e774e9cec2065">getDivisionMultiplier</a> ()</td></tr>
<tr class="memdesc:a5ac7ed575c8b7fc8a47e774e9cec2065 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed). <br /></td></tr>
<tr class="separator:a5ac7ed575c8b7fc8a47e774e9cec2065 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b7ead02de1bfcce1100ff66cbc12998 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">getCentroidIndex</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)</td></tr>
<tr class="memdesc:a0b7ead02de1bfcce1100ff66cbc12998 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the index in the resulting downsampled cloud of the specified point.  <a href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">更多...</a><br /></td></tr>
<tr class="separator:a0b7ead02de1bfcce1100ff66cbc12998 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28015aa9f1c9329c66ce8a02b727a783 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">getNeighborCentroidIndices</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;reference_point, const Eigen::MatrixXi &amp;relative_coordinates)</td></tr>
<tr class="memdesc:a28015aa9f1c9329c66ce8a02b727a783 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds).  <a href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">更多...</a><br /></td></tr>
<tr class="separator:a28015aa9f1c9329c66ce8a02b727a783 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ab26a1286bc68d1129e1a62908869ce inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">getLeafLayout</a> ()</td></tr>
<tr class="memdesc:a3ab26a1286bc68d1129e1a62908869ce inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the layout of the leafs for fast access to cells relative to current position.  <a href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">更多...</a><br /></td></tr>
<tr class="separator:a3ab26a1286bc68d1129e1a62908869ce inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a900833dc1c7222056de41c358b0534b8 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">getGridCoordinates</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a900833dc1c7222056de41c358b0534b8 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).  <a href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">更多...</a><br /></td></tr>
<tr class="separator:a900833dc1c7222056de41c358b0534b8 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1343f669f040cee74afcf0bdafef68ee inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">getCentroidIndexAt</a> (const Eigen::Vector3i &amp;ijk)</td></tr>
<tr class="memdesc:a1343f669f040cee74afcf0bdafef68ee inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the index in the downsampled cloud corresponding to a given set of coordinates.  <a href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">更多...</a><br /></td></tr>
<tr class="separator:a1343f669f040cee74afcf0bdafef68ee inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a155aa8fce756b002bb1b4b352f8f530f inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">setFilterFieldName</a> (const std::string &amp;field_name)</td></tr>
<tr class="memdesc:a155aa8fce756b002bb1b4b352f8f530f inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide the name of the field to be used for filtering data. In conjunction with <em>setFilterLimits</em>, points having values outside this interval will be discarded.  <a href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">更多...</a><br /></td></tr>
<tr class="separator:a155aa8fce756b002bb1b4b352f8f530f inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b786e2d4ae89d179625278fe1e000fb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a2b786e2d4ae89d179625278fe1e000fb"></a>
std::string const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a2b786e2d4ae89d179625278fe1e000fb">getFilterFieldName</a> ()</td></tr>
<tr class="memdesc:a2b786e2d4ae89d179625278fe1e000fb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the name of the field used for filtering. <br /></td></tr>
<tr class="separator:a2b786e2d4ae89d179625278fe1e000fb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc6d78962d7378aea245381fdb13e65e inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">setFilterLimits</a> (const double &amp;limit_min, const double &amp;limit_max)</td></tr>
<tr class="memdesc:afc6d78962d7378aea245381fdb13e65e inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the field filter limits. All points having field values outside this interval will be discarded.  <a href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">更多...</a><br /></td></tr>
<tr class="separator:afc6d78962d7378aea245381fdb13e65e inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d533280865d5fbd991b8b45383b4fb2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">getFilterLimits</a> (double &amp;limit_min, double &amp;limit_max)</td></tr>
<tr class="memdesc:a6d533280865d5fbd991b8b45383b4fb2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, FLT_MAX.  <a href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">更多...</a><br /></td></tr>
<tr class="separator:a6d533280865d5fbd991b8b45383b4fb2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fc5ee26e1ab45ceb7eb7f28fa7c09ba inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">setFilterLimitsNegative</a> (const bool limit_negative)</td></tr>
<tr class="memdesc:a1fc5ee26e1ab45ceb7eb7f28fa7c09ba inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). Default: false.  <a href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">更多...</a><br /></td></tr>
<tr class="separator:a1fc5ee26e1ab45ceb7eb7f28fa7c09ba inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1faafa6a4c3fe10e1e7d83fe353de058 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">getFilterLimitsNegative</a> (bool &amp;limit_negative)</td></tr>
<tr class="memdesc:a1faafa6a4c3fe10e1e7d83fe353de058 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).  <a href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">更多...</a><br /></td></tr>
<tr class="separator:a1faafa6a4c3fe10e1e7d83fe353de058 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41b9bf8bdb39475a714bf09d0bffa1b2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">getFilterLimitsNegative</a> ()</td></tr>
<tr class="memdesc:a41b9bf8bdb39475a714bf09d0bffa1b2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).  <a href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">更多...</a><br /></td></tr>
<tr class="separator:a41b9bf8bdb39475a714bf09d0bffa1b2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
<tr class="separator:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
<tr class="separator:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
<tr class="separator:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
<tr class="separator:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:a05a67de9a84514d546209e826eb5778c"><td class="memItemLeft" align="right" valign="top"><a id="a05a67de9a84514d546209e826eb5778c"></a>
typedef <a class="el" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::type&#160;</td><td class="memItemRight" valign="bottom"><b>FieldList</b></td></tr>
<tr class="separator:a05a67de9a84514d546209e826eb5778c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af24527f4d25d77f0ec14ef427bf549e3"><td class="memItemLeft" align="right" valign="top"><a id="af24527f4d25d77f0ec14ef427bf549e3"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:af24527f4d25d77f0ec14ef427bf549e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e27ada2836d0669e4d5b166505f43ec"><td class="memItemLeft" align="right" valign="top"><a id="a4e27ada2836d0669e4d5b166505f43ec"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a4e27ada2836d0669e4d5b166505f43ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee97591edae50c4ac627e638c61671ff"><td class="memItemLeft" align="right" valign="top"><a id="aee97591edae50c4ac627e638c61671ff"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:aee97591edae50c4ac627e638c61671ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_types_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pro_types_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Protected 类型 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae5e0ee1b9f1027f14817c56bdebcab72 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ae5e0ee1b9f1027f14817c56bdebcab72"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae5e0ee1b9f1027f14817c56bdebcab72 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e35907a5d4d06c1c65078ae0b13d7e5 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a6e35907a5d4d06c1c65078ae0b13d7e5"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a6e35907a5d4d06c1c65078ae0b13d7e5 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23ddd643d89dc91d17b23de0b856b706 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a23ddd643d89dc91d17b23de0b856b706"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a23ddd643d89dc91d17b23de0b856b706 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a604be24e2b5a139f47741f78bb329b8b inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a604be24e2b5a139f47741f78bb329b8b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a604be24e2b5a139f47741f78bb329b8b inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c090164ea30006051c2d2f284298579 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a7c090164ea30006051c2d2f284298579"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a7c090164ea30006051c2d2f284298579 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a342a8c748e751186f42fcc874f80c586 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a342a8c748e751186f42fcc874f80c586"></a>
typedef <a class="el" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::type&#160;</td><td class="memItemRight" valign="bottom"><b>FieldList</b></td></tr>
<tr class="separator:a342a8c748e751186f42fcc874f80c586 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a1a4a22ba39ce7c83f76d7f31c292733c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a1a4a22ba39ce7c83f76d7f31c292733c"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> cloud and initializes voxel structure.  <a href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">更多...</a><br /></td></tr>
<tr class="separator:a1a4a22ba39ce7c83f76d7f31c292733c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a709ed82c98db5808339c0a2ee7f8506d"><td class="memItemLeft" align="right" valign="top"><a id="a709ed82c98db5808339c0a2ee7f8506d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a></td></tr>
<tr class="memdesc:a709ed82c98db5808339c0a2ee7f8506d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag to determine if voxel structure is searchable. <br /></td></tr>
<tr class="separator:a709ed82c98db5808339c0a2ee7f8506d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c8c7f9e031324133226e97af247ecae"><td class="memItemLeft" align="right" valign="top"><a id="a2c8c7f9e031324133226e97af247ecae"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a></td></tr>
<tr class="memdesc:a2c8c7f9e031324133226e97af247ecae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum points contained with in a voxel to allow it to be useable. <br /></td></tr>
<tr class="separator:a2c8c7f9e031324133226e97af247ecae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a78fec26d820ccd1999d326878adcf216"><td class="memItemLeft" align="right" valign="top"><a id="a78fec26d820ccd1999d326878adcf216"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a></td></tr>
<tr class="memdesc:a78fec26d820ccd1999d326878adcf216"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum allowable ratio between eigenvalues to prevent singular covariance matrices. <br /></td></tr>
<tr class="separator:a78fec26d820ccd1999d326878adcf216"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae820b8e9fdb10162508e7390a556b7ea"><td class="memItemLeft" align="right" valign="top"><a id="ae820b8e9fdb10162508e7390a556b7ea"></a>
std::map&lt; size_t, <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a></td></tr>
<tr class="memdesc:ae820b8e9fdb10162508e7390a556b7ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points). <br /></td></tr>
<tr class="separator:ae820b8e9fdb10162508e7390a556b7ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47e3520b0631c9d8897717eddb9e8900"><td class="memItemLeft" align="right" valign="top"><a id="a47e3520b0631c9d8897717eddb9e8900"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a></td></tr>
<tr class="memdesc:a47e3520b0631c9d8897717eddb9e8900"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point cloud containing centroids of voxels containing atleast minimum number of points. <br /></td></tr>
<tr class="separator:a47e3520b0631c9d8897717eddb9e8900"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acabc11ab782a3426a9e5bb80c31ca898"><td class="memItemLeft" align="right" valign="top"><a id="acabc11ab782a3426a9e5bb80c31ca898"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a></td></tr>
<tr class="memdesc:acabc11ab782a3426a9e5bb80c31ca898"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of leaf structurs associated with each point in <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> (used for searching). <br /></td></tr>
<tr class="separator:acabc11ab782a3426a9e5bb80c31ca898"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f030fa636b18e46a77046923024242e"><td class="memItemLeft" align="right" valign="top"><a id="a7f030fa636b18e46a77046923024242e"></a>
<a class="el" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a></td></tr>
<tr class="memdesc:a7f030fa636b18e46a77046923024242e"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_kd_tree.html" title="KdTree represents the base spatial locator class for kd-tree implementations.">KdTree</a> generated using <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> (used for searching). <br /></td></tr>
<tr class="separator:a7f030fa636b18e46a77046923024242e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ad6e7aa7d90c1b75ab43d38c48dcff799 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ad6e7aa7d90c1b75ab43d38c48dcff799"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a></td></tr>
<tr class="memdesc:ad6e7aa7d90c1b75ab43d38c48dcff799 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a leaf. <br /></td></tr>
<tr class="separator:ad6e7aa7d90c1b75ab43d38c48dcff799 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed2cf27b47ad2059be72e03326d4ff00 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="aed2cf27b47ad2059be72e03326d4ff00"></a>
Eigen::Array4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a></td></tr>
<tr class="memdesc:aed2cf27b47ad2059be72e03326d4ff00 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. <br /></td></tr>
<tr class="separator:aed2cf27b47ad2059be72e03326d4ff00 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1789763b2f3b17cce937b9902cfb6175 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a1789763b2f3b17cce937b9902cfb6175"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a></td></tr>
<tr class="memdesc:a1789763b2f3b17cce937b9902cfb6175 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ. <br /></td></tr>
<tr class="separator:a1789763b2f3b17cce937b9902cfb6175 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73e0f889875e09c1990ec088af6c82c4 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a73e0f889875e09c1990ec088af6c82c4"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a></td></tr>
<tr class="memdesc:a73e0f889875e09c1990ec088af6c82c4 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if leaf layout information needs to be saved in <em>leaf_layout_</em>. <br /></td></tr>
<tr class="separator:a73e0f889875e09c1990ec088af6c82c4 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33222904207e6304aa3fbd2b31a9ac84 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a33222904207e6304aa3fbd2b31a9ac84"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a></td></tr>
<tr class="memdesc:a33222904207e6304aa3fbd2b31a9ac84 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The leaf layout information for fast access to cells relative to current position <br /></td></tr>
<tr class="separator:a33222904207e6304aa3fbd2b31a9ac84 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa920d3e9fa0d03643423ade34f6ec986 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="aa920d3e9fa0d03643423ade34f6ec986"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a></td></tr>
<tr class="memdesc:aa920d3e9fa0d03643423ade34f6ec986 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. <br /></td></tr>
<tr class="separator:aa920d3e9fa0d03643423ade34f6ec986 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24480b0cc73084e2d62fdce34dd5fd03 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a24480b0cc73084e2d62fdce34dd5fd03"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>max_b_</b></td></tr>
<tr class="separator:a24480b0cc73084e2d62fdce34dd5fd03 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb401929b5b3578a402a5fdcc5879feb inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="afb401929b5b3578a402a5fdcc5879feb"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>div_b_</b></td></tr>
<tr class="separator:afb401929b5b3578a402a5fdcc5879feb inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37087b1124f5c9617f1f6ac5a0b60203 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a37087b1124f5c9617f1f6ac5a0b60203"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>divb_mul_</b></td></tr>
<tr class="separator:a37087b1124f5c9617f1f6ac5a0b60203 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7af4d73e7dd960d1d7c725a6f3fe9bc inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ac7af4d73e7dd960d1d7c725a6f3fe9bc"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a></td></tr>
<tr class="memdesc:ac7af4d73e7dd960d1d7c725a6f3fe9bc inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The desired user filter field name. <br /></td></tr>
<tr class="separator:ac7af4d73e7dd960d1d7c725a6f3fe9bc inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8929163e5e80d86881a9ad123fa468e inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ad8929163e5e80d86881a9ad123fa468e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a></td></tr>
<tr class="memdesc:ad8929163e5e80d86881a9ad123fa468e inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum allowed filter value a point will be considered from. <br /></td></tr>
<tr class="separator:ad8929163e5e80d86881a9ad123fa468e inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaec915dae701cca04f4598a818b7a02d inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="aaec915dae701cca04f4598a818b7a02d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a></td></tr>
<tr class="memdesc:aaec915dae701cca04f4598a818b7a02d inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed filter value a point will be considered from. <br /></td></tr>
<tr class="separator:aaec915dae701cca04f4598a818b7a02d inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8115c47d971f0af7a11c4148741f1171 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a8115c47d971f0af7a11c4148741f1171"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a></td></tr>
<tr class="memdesc:a8115c47d971f0af7a11c4148741f1171 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the data outside (<em>filter_limit_min_</em>;<em>filter_limit_max_</em>). Default: false. <br /></td></tr>
<tr class="separator:a8115c47d971f0af7a11c4148741f1171 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24a0c685d3d211e998e927766553b8e3 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a24a0c685d3d211e998e927766553b8e3"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">min_points_per_voxel_</a></td></tr>
<tr class="memdesc:a24a0c685d3d211e998e927766553b8e3 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum number of points per voxel for the centroid to be computed <br /></td></tr>
<tr class="separator:a24a0c685d3d211e998e927766553b8e3 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
<tr class="separator:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ad700c7ab56dc82ad8811b87e9f793751"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
<tr class="separator:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a77b899631add791703f5d615f085bede"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
<tr class="separator:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::VoxelGridCovariance&lt; PointT &gt;</h3>

<p>A searchable voxel strucure containing the mean and covariance of the data. </p>
<dl class="section note"><dt>注解</dt><dd>For more information please see <b>Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform — an Efﬁcient Representation for <a class="el" href="classpcl_1_1_registration.html" title="Registration represents the base registration class for general purpose, ICP-like methods.">Registration</a>, Surface Analysis, and Loop Detection. PhD thesis, Orebro University. Orebro Studies in Technology 36</b> </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Brian Okorn (Space and Naval Warfare Systems Center Pacific) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a1a4a22ba39ce7c83f76d7f31c292733c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1a4a22ba39ce7c83f76d7f31c292733c">&#9670;&nbsp;</a></span>applyFilter()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> cloud and initializes voxel structure. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>cloud containing centroids of voxels containing a sufficient number of points </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_voxel_grid.html#ac5e7d3bb2b3e7c05dbc45ba44a443297">pcl::VoxelGrid&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>.clear ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// Has the input dataset been set already?</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::applyFilter] No input dataset given!\n&quot;</span>, <a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// Copy the header (and thus the frame_id) + allocate enough space for points</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;                          <span class="comment">// downsampling breaks the organized structure</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;                     <span class="comment">// we filter out invalid points</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  Eigen::Vector4f min_p, max_p;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="comment">// Get the minimum and maximum dimensions</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a>.empty ()) <span class="comment">// If we don&#39;t want to process the entire cloud...</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    getMinMax3D&lt;PointT&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, <a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a>), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a>), min_p, max_p, <a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a>);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    getMinMax3D&lt;PointT&gt; (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, min_p, max_p);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Check that the leaf size is not too small, given the size of the data</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  int64_t dx = <span class="keyword">static_cast&lt;</span>int64_t<span class="keyword">&gt;</span>((max_p[0] - min_p[0]) * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0])+1;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  int64_t dy = <span class="keyword">static_cast&lt;</span>int64_t<span class="keyword">&gt;</span>((max_p[1] - min_p[1]) * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1])+1;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  int64_t dz = <span class="keyword">static_cast&lt;</span>int64_t<span class="keyword">&gt;</span>((max_p[2] - min_p[2]) * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2])+1;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span>((dx*dy*dz) &gt; std::numeric_limits&lt;int32_t&gt;::max())</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    PCL_WARN(<span class="stringliteral">&quot;[pcl::%s::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.&quot;</span>, <a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a>().c_str());</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a>();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// Compute the minimum and maximum bounding box values</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (min_p[0] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]));</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  max_b_[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (max_p[0] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]));</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (min_p[1] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]));</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  max_b_[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (max_p[1] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]));</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (min_p[2] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]));</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  max_b_[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (max_p[2] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]));</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// Compute the number of divisions needed along all axis</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  div_b_ = max_b_ - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a> + Eigen::Vector4i::Ones ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  div_b_[3] = 0;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">// Clear the leaves</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.clear ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// Set up the division multiplier</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">int</span> centroid_size = 4;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a>)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    centroid_size = boost::mpl::size&lt;FieldList&gt;::value;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    rgba_index = fields[rgba_index].offset;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    centroid_size += 4;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="comment">// If we don&#39;t want to process the entire cloud, but rather filter points far away from the viewpoint first...</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a>.empty ())</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="comment">// Get the distance field index</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">int</span> distance_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, <a class="code" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a>, fields);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (distance_idx == -1)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::applyFilter] Invalid filter field name. Index is %d.\n&quot;</span>, <a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str (), distance_idx);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">// First pass: go over all points and insert them into the right leaf</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size (); ++cp)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;is_dense)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            !pcl_isfinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y) ||</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            !pcl_isfinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z))</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="comment">// Get the distance value</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">const</span> uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span> (&amp;<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp]);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">float</span> distance_value = 0;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      memcpy (&amp;distance_value, pt_data + fields[distance_idx].offset, <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a>)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="comment">// Use a threshold for cutting out points which inside the interval</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">if</span> ((distance_value &lt; <a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a>) &amp;&amp; (distance_value &gt; <a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a>))</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="comment">// Use a threshold for cutting out points which are too close/far away</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">if</span> ((distance_value &gt; <a class="code" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a>) || (distance_value &lt; <a class="code" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a>))</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordtype">int</span> ijk0 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]));</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordtype">int</span> ijk1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]));</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">int</span> ijk2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]));</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="comment">// Compute the centroid leaf index</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">int</span> idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      Leaf&amp; leaf = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>[idx];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordflow">if</span> (leaf.nr_points == 0)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        leaf.centroid.resize (centroid_size);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        leaf.centroid.setZero ();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      Eigen::Vector3d pt3d (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="comment">// Accumulate point sum for centroid calculation</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      leaf.mean_ += pt3d;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="comment">// Accumulate x*xT for single pass covariance calculation</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      leaf.cov_ += pt3d * pt3d.transpose ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="comment">// Do we need to process all the fields?</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a>)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        Eigen::Vector4f pt (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z, 0);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        leaf.centroid.template head&lt;4&gt; () += pt;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="comment">// Copy all the fields</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        Eigen::VectorXf centroid = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        pcl::for_each_type&lt;FieldList&gt; (NdCopyPointEigenFunctor&lt;PointT&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp], centroid));</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          <span class="comment">// Fill r/g/b data, assuming that the order is BGRA</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>&amp; rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>RGB*<span class="keyword">&gt;</span> (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp]) + rgba_index);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          centroid[centroid_size - 4] = rgb.a;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          centroid[centroid_size - 3] = rgb.r;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          centroid[centroid_size - 2] = rgb.g;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          centroid[centroid_size - 1] = rgb.b;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        leaf.centroid += centroid;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      ++leaf.nr_points;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">// No distance filtering, process all data</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">// First pass: go over all points and insert them into the right leaf</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size (); ++cp)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;is_dense)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            !pcl_isfinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y) ||</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            !pcl_isfinite (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z))</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">int</span> ijk0 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]));</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordtype">int</span> ijk1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]));</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordtype">int</span> ijk2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]));</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="comment">// Compute the centroid leaf index</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordtype">int</span> idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="comment">//int idx = (((input_-&gt;points[cp].getArray4fmap () * inverse_leaf_size_).template cast&lt;int&gt; ()).matrix () - min_b_).dot (divb_mul_);</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      Leaf&amp; leaf = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>[idx];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keywordflow">if</span> (leaf.nr_points == 0)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        leaf.centroid.resize (centroid_size);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        leaf.centroid.setZero ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      Eigen::Vector3d pt3d (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="comment">// Accumulate point sum for centroid calculation</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      leaf.mean_ += pt3d;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="comment">// Accumulate x*xT for single pass covariance calculation</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      leaf.cov_ += pt3d * pt3d.transpose ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="comment">// Do we need to process all the fields?</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a>)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        Eigen::Vector4f pt (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].x, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].y, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp].z, 0);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        leaf.centroid.template head&lt;4&gt; () += pt;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="comment">// Copy all the fields</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        Eigen::VectorXf centroid = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        pcl::for_each_type&lt;FieldList&gt; (NdCopyPointEigenFunctor&lt;PointT&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp], centroid));</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          <span class="comment">// Fill r/g/b data, assuming that the order is BGRA</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>&amp; rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>RGB*<span class="keyword">&gt;</span> (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[cp]) + rgba_index);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          centroid[centroid_size - 4] = rgb.a;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          centroid[centroid_size - 3] = rgb.r;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          centroid[centroid_size - 2] = rgb.g;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          centroid[centroid_size - 1] = rgb.b;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        leaf.centroid += centroid;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      ++leaf.nr_points;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="comment">// Second pass: go over all leaves and compute centroids and covariance matrices</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.size ());</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>.reserve (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.size ());</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordtype">int</span> cp = 0;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a>)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>.resize (div_b_[0] * div_b_[1] * div_b_[2], -1);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="comment">// Eigen values and vectors calculated to prevent near singluar matrices</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  Eigen::SelfAdjointEigenSolver&lt;Eigen::Matrix3d&gt; eigensolver;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  Eigen::Matrix3d eigen_val;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  Eigen::Vector3d pt_sum;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// Eigen values less than a threshold of max eigen value are inflated to a set fraction of the max eigen value.</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordtype">double</span> min_covar_eigvalue;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator it = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.begin (); it != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end (); ++it)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="comment">// Normalize the centroid</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    Leaf&amp; leaf = it-&gt;second;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="comment">// Normalize the centroid</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    leaf.centroid /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf.nr_points);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="comment">// Point sum used for single pass covariance calculation</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    pt_sum = leaf.mean_;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="comment">// Normalize mean</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    leaf.mean_ /= leaf.nr_points;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="comment">// If the voxel contains sufficient points, its covariance is calculated and is added to the voxel centroids and output clouds.</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="comment">// Points with less than the minimum points will have a can not be accuratly approximated using a normal distribution.</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">if</span> (leaf.nr_points &gt;= <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a>)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a>)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a>[it-&gt;first] = cp++;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ());</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="comment">// Do we need to process all the fields?</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a>)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.back ().x = leaf.centroid[0];</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.back ().y = leaf.centroid[1];</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.back ().z = leaf.centroid[2];</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        pcl::for_each_type&lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_copy_eigen_point_functor.html">pcl::NdCopyEigenPointFunctor&lt;PointT&gt;</a> (leaf.centroid, output.back ()));</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>&amp; rgb = *<span class="keyword">reinterpret_cast&lt;</span>RGB*<span class="keyword">&gt;</span> (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.back ()) + rgba_index);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;          rgb.a = leaf.centroid[centroid_size - 4];</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          rgb.r = leaf.centroid[centroid_size - 3];</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;          rgb.g = leaf.centroid[centroid_size - 2];</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          rgb.b = leaf.centroid[centroid_size - 1];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      }</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="comment">// Stores the voxel indice for fast access searching</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>)</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (it-&gt;first));</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="comment">// Single pass covariance calculation</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      leaf.cov_ = (leaf.cov_ - 2 * (pt_sum * leaf.mean_.transpose ())) / leaf.nr_points + leaf.mean_ * leaf.mean_.transpose ();</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      leaf.cov_ *= (leaf.nr_points - 1.0) / leaf.nr_points;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="comment">//Normalize Eigen Val such that max no more than 100x min.</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      eigensolver.compute (leaf.cov_);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      eigen_val = eigensolver.eigenvalues ().asDiagonal ();</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      leaf.evecs_ = eigensolver.eigenvectors ();</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keywordflow">if</span> (eigen_val (0, 0) &lt; 0 || eigen_val (1, 1) &lt; 0 || eigen_val (2, 2) &lt;= 0)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        leaf.nr_points = -1;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="comment">// Avoids matrices near singularities (eq 6.11)[Magnusson 2009]</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      min_covar_eigvalue = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a> * eigen_val (2, 2);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">if</span> (eigen_val (0, 0) &lt; min_covar_eigvalue)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        eigen_val (0, 0) = min_covar_eigvalue;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordflow">if</span> (eigen_val (1, 1) &lt; min_covar_eigvalue)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;          eigen_val (1, 1) = min_covar_eigvalue;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        leaf.cov_ = leaf.evecs_ * eigen_val * leaf.evecs_.inverse ();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      leaf.evals_ = eigen_val.diagonal ();</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      leaf.icov_ = leaf.cov_.inverse ();</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <span class="keywordflow">if</span> (leaf.icov_.maxCoeff () == std::numeric_limits&lt;float&gt;::infinity ( )</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          || leaf.icov_.minCoeff () == -std::numeric_limits&lt;float&gt;::infinity ( ) )</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      {</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        leaf.nr_points = -1;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  }</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a71040236d2c11da75b715d6d6bf5ba9d"><div class="ttname"><a href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">pcl::Filter::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> filter.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a2c8c7f9e031324133226e97af247ecae"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">pcl::VoxelGridCovariance::min_points_per_voxel_</a></div><div class="ttdeci">int min_points_per_voxel_</div><div class="ttdoc">Minimum points contained with in a voxel to allow it to be useable.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:524</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a709ed82c98db5808339c0a2ee7f8506d"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">pcl::VoxelGridCovariance::searchable_</a></div><div class="ttdeci">bool searchable_</div><div class="ttdoc">Flag to determine if voxel structure is searchable.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:521</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a78fec26d820ccd1999d326878adcf216"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">pcl::VoxelGridCovariance::min_covar_eigvalue_mult_</a></div><div class="ttdeci">double min_covar_eigvalue_mult_</div><div class="ttdoc">Minimum allowable ratio between eigenvalues to prevent singular covariance matrices.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:527</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_acabc11ab782a3426a9e5bb80c31ca898"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">pcl::VoxelGridCovariance::voxel_centroids_leaf_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; voxel_centroids_leaf_indices_</div><div class="ttdoc">Indices of leaf structurs associated with each point in voxel_centroids_ (used for searching).</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:536</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ae820b8e9fdb10162508e7390a556b7ea"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">pcl::VoxelGridCovariance::leaves_</a></div><div class="ttdeci">std::map&lt; size_t, Leaf &gt; leaves_</div><div class="ttdoc">Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of poin...</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:530</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1789763b2f3b17cce937b9902cfb6175"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">pcl::VoxelGrid::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:463</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a33222904207e6304aa3fbd2b31a9ac84"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">pcl::VoxelGrid::leaf_layout_</a></div><div class="ttdeci">std::vector&lt; int &gt; leaf_layout_</div><div class="ttdoc">The leaf layout information for fast access to cells relative to current position</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:469</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a73e0f889875e09c1990ec088af6c82c4"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">pcl::VoxelGrid::save_leaf_layout_</a></div><div class="ttdeci">bool save_leaf_layout_</div><div class="ttdoc">Set to true if leaf layout information needs to be saved in leaf_layout_.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:466</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a8115c47d971f0af7a11c4148741f1171"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">pcl::VoxelGrid::filter_limit_negative_</a></div><div class="ttdeci">bool filter_limit_negative_</div><div class="ttdoc">Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_)....</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:484</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa920d3e9fa0d03643423ade34f6ec986"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">pcl::VoxelGrid::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aaec915dae701cca04f4598a818b7a02d"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">pcl::VoxelGrid::filter_limit_max_</a></div><div class="ttdeci">double filter_limit_max_</div><div class="ttdoc">The maximum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:481</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ac7af4d73e7dd960d1d7c725a6f3fe9bc"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">pcl::VoxelGrid::filter_field_name_</a></div><div class="ttdeci">std::string filter_field_name_</div><div class="ttdoc">The desired user filter field name.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad8929163e5e80d86881a9ad123fa468e"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">pcl::VoxelGrid::filter_limit_min_</a></div><div class="ttdeci">double filter_limit_min_</div><div class="ttdoc">The minimum allowed filter value a point will be considered from.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:478</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aed2cf27b47ad2059be72e03326d4ff00"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">pcl::VoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:460</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_eigen_point_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_copy_eigen_point_functor.html">pcl::NdCopyEigenPointFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen type and a PointT.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:71</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aa804ee4e6a37ae37316802ffc88da8c5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa804ee4e6a37ae37316802ffc88da8c5">&#9670;&nbsp;</a></span>filter() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::filter </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>searchable</em> = <code>false</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Initializes voxel structure. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">searchable</td><td>flag if voxel structure is searchable, if true then kdtree is built </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> = searchable;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> = PointCloudPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">applyFilter</a> (*<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> &amp;&amp; <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>-&gt;size() &gt; 0)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;          <span class="comment">// Initiates kdtree of the centroids of voxels containing a sufficient number of points</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.setInputCloud (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a1a4a22ba39ce7c83f76d7f31c292733c"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">pcl::VoxelGridCovariance::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter cloud and initializes voxel structure.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a47e3520b0631c9d8897717eddb9e8900"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">pcl::VoxelGridCovariance::voxel_centroids_</a></div><div class="ttdeci">PointCloudPtr voxel_centroids_</div><div class="ttdoc">Point cloud containing centroids of voxels containing atleast minimum number of points.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:533</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a7f030fa636b18e46a77046923024242e"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">pcl::VoxelGridCovariance::kdtree_</a></div><div class="ttdeci">KdTreeFLANN&lt; PointT &gt; kdtree_</div><div class="ttdoc">KdTree generated using voxel_centroids_ (used for searching).</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:539</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a6612d6ae521e766fee6a4e2bf833f643"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6612d6ae521e766fee6a4e2bf833f643">&#9670;&nbsp;</a></span>filter() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::filter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>searchable</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> cloud and initializes voxel structure. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>cloud containing centroids of voxels containing a sufficient number of points </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">searchable</td><td>flag if voxel structure is searchable, if true then kdtree is built </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> = searchable;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">applyFilter</a> (output);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> = PointCloudPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> (output));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> &amp;&amp; <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>-&gt;size() &gt; 0)</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        {</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          <span class="comment">// Initiates kdtree of the centroids of voxels containing a sufficient number of points</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.setInputCloud (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="ad940a60fb5c83b07869808c297cebab2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad940a60fb5c83b07869808c297cebab2">&#9670;&nbsp;</a></span>getCentroids()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">PointCloudPtr <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getCentroids </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get a pointcloud containing the voxel centroids </p>
<dl class="section note"><dt>注解</dt><dd>Only voxels containing a sufficient number of points are used. </dd></dl>
<dl class="section return"><dt>返回</dt><dd>a map contataining all leaves </dd></dl>
<div class="fragment"><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a17fa62e127bacf0f286a49cafd3bfc65"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17fa62e127bacf0f286a49cafd3bfc65">&#9670;&nbsp;</a></span>getCovEigValueInflationRatio()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getCovEigValueInflationRatio </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. </p>
<dl class="section return"><dt>返回</dt><dd>the minimum allowable ratio between eigenvalues </dd></dl>
<div class="fragment"><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="accf21aea709481f32a3ab000efde490f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#accf21aea709481f32a3ab000efde490f">&#9670;&nbsp;</a></span>getDisplayCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getDisplayCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cell_cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get a cloud to visualize each voxels normal distribution. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cell_cloud</td><td>a cloud created by sampling the normal distributions of each voxel </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;{</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  cell_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <span class="keywordtype">int</span> pnt_per_cell = 1000;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  boost::mt19937 rng;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  boost::normal_distribution&lt;&gt; nd (0.0, <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>.head (3).norm ());</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  boost::variate_generator&lt;boost::mt19937&amp;, boost::normal_distribution&lt;&gt; &gt; var_nor (rng, nd);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  Eigen::LLT&lt;Eigen::Matrix3d&gt; llt_of_cov;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  Eigen::Matrix3d cholesky_decomp;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  Eigen::Vector3d cell_mean;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  Eigen::Vector3d rand_point;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  Eigen::Vector3d dist_point;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="comment">// Generate points for each occupied voxel with sufficient points.</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator it = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.begin (); it != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end (); ++it)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    Leaf&amp; leaf = it-&gt;second;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordflow">if</span> (leaf.nr_points &gt;= <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a>)</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    {</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      cell_mean = leaf.mean_;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      llt_of_cov.compute (leaf.cov_);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      cholesky_decomp = llt_of_cov.matrixL ();</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="comment">// Random points generated by sampling the normal distribution given by voxel mean and covariance matrix</span></div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; pnt_per_cell; i++)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        rand_point = Eigen::Vector3d (var_nor (), var_nor (), var_nor ());</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        dist_point = cell_mean + cholesky_decomp * rand_point;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        cell_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (PointXYZ (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (dist_point (0)), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (dist_point (1)), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (dist_point (2))));</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      }</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    }</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad6e7aa7d90c1b75ab43d38c48dcff799"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">pcl::VoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:457</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a601a5a50e9f9f4f5f5901fc4cd3302f7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a601a5a50e9f9f4f5f5901fc4cd3302f7">&#9670;&nbsp;</a></span>getLeaf() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getLeaf </td>
          <td>(</td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>p</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the voxel containing point p. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>the point to get the leaf structure at </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>const pointer to leaf structure </dd></dl>
<div class="fragment"><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        <span class="comment">// Generate index associated with p</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordtype">int</span> ijk0 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p[0] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="keywordtype">int</span> ijk1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p[1] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordtype">int</span> ijk2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p[2] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="comment">// Compute the centroid leaf index</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keywordtype">int</span> idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="comment">// Find leaf associated with index</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (idx);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end ())</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="comment">// If such a leaf exists return the pointer to the leaf structure</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> ret (&amp;(leaf_iter-&gt;second));</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a7cd5f4e0a702dfd45de8654f1a008c91"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">pcl::VoxelGridCovariance::LeafConstPtr</a></div><div class="ttdeci">const Leaf * LeafConstPtr</div><div class="ttdoc">Const pointer to VoxelGridCovariance leaf structure</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:194</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a28f61978dec5e19460f3797d21246516"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a28f61978dec5e19460f3797d21246516">&#9670;&nbsp;</a></span>getLeaf() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getLeaf </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the voxel containing point p. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>the index of the leaf structure node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>const pointer to leaf structure </dd></dl>
<div class="fragment"><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (index);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end ())</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> ret (&amp;(leaf_iter-&gt;second));</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="affd4b96b7686ed76c1325aa059cf692f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#affd4b96b7686ed76c1325aa059cf692f">&#9670;&nbsp;</a></span>getLeaf() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getLeaf </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>p</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the voxel containing point p. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>the point to get the leaf structure at </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>const pointer to leaf structure </dd></dl>
<div class="fragment"><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="comment">// Generate index associated with p</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keywordtype">int</span> ijk0 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="keywordtype">int</span> ijk1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <span class="keywordtype">int</span> ijk2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="comment">// Compute the centroid leaf index</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="keywordtype">int</span> idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="comment">// Find leaf associated with index</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (idx);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end ())</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          <span class="comment">// If such a leaf exists return the pointer to the leaf structure</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> ret (&amp;(leaf_iter-&gt;second));</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="aba599d866b3289dd51e2618e71d889a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aba599d866b3289dd51e2618e71d889a0">&#9670;&nbsp;</a></span>getLeaves()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const std::map&lt;size_t, <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a>&gt;&amp; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getLeaves </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the leaf structure map </p>
<dl class="section return"><dt>返回</dt><dd>a map contataining all leaves </dd></dl>
<div class="fragment"><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="ac1af39542299266ef3cf8a1d1ca4ea4b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac1af39542299266ef3cf8a1d1ca4ea4b">&#9670;&nbsp;</a></span>getMinPointPerVoxel()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMinPointPerVoxel </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the minimum number of points required for a cell to be used. </p>
<dl class="section return"><dt>返回</dt><dd>the minimum number of points for required for a voxel to be used </dd></dl>
<div class="fragment"><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="ab24846085f7bd621a6edf415b0226679"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab24846085f7bd621a6edf415b0226679">&#9670;&nbsp;</a></span>getNeighborhoodAtPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getNeighborhoodAtPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>reference_point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>neighbors</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the voxels surrounding point p, not including the voxel contating point p. </p>
<dl class="section note"><dt>注解</dt><dd>Only voxels containing a sufficient number of points are used (slower than radius search in practice). </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">reference_point</td><td>the point to get the leaf structure at </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">neighbors</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;{</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  neighbors.clear ();</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="comment">// Find displacement coordinates</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  Eigen::MatrixXi relative_coordinates = pcl::getAllNeighborCellIndices ();</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  Eigen::Vector4i ijk (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (reference_point.x / <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0])), </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (reference_point.y / <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1])), </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (reference_point.z / <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2])), 0);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  Eigen::Array4i diff2min = <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a> - ijk;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  Eigen::Array4i diff2max = max_b_ - ijk;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  neighbors.reserve (relative_coordinates.cols ());</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">// Check each neighbor to see if it is occupied and contains sufficient points</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="comment">// Slower than radius search because needs to check 26 indices</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ni = 0; ni &lt; relative_coordinates.cols (); ni++)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    Eigen::Vector4i displacement = (Eigen::Vector4i () &lt;&lt; relative_coordinates.col (ni), 0).finished ();</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="comment">// Checking if the specified cell is in the grid</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="keywordflow">if</span> ((diff2min &lt;= displacement.array ()).all () &amp;&amp; (diff2max &gt;= displacement.array ()).all ())</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (((ijk + displacement - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>).dot (divb_mul_)));</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end () &amp;&amp; leaf_iter-&gt;second.nr_points &gt;= <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a>)</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> leaf = &amp;(leaf_iter-&gt;second);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        neighbors.push_back (leaf);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      }</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    }</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (neighbors.size ()));</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a34fef3799cca9e6bac062d1df4d53a5f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a34fef3799cca9e6bac062d1df4d53a5f">&#9670;&nbsp;</a></span>nearestKSearch() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::nearestKSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_leaves</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Search for the k-nearest occupied voxels for the given query point. </p>
<dl class="section note"><dt>注解</dt><dd>Only voxels containing a sufficient number of points are used. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the given query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>the index </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">k</td><td>the number of neighbors to search for </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_leaves</td><td>the resultant leaves of the neighboring points </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">if</span> (index &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()) || index &lt; 0)</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">nearestKSearch</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], k, k_leaves, k_sqr_distances));</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a934c7720a7e95ad391af73691fc944b5"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">pcl::VoxelGridCovariance::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; LeafConstPtr &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Search for the k-nearest occupied voxels for the given query point.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:414</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a934c7720a7e95ad391af73691fc944b5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a934c7720a7e95ad391af73691fc944b5">&#9670;&nbsp;</a></span>nearestKSearch() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::nearestKSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_leaves</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Search for the k-nearest occupied voxels for the given query point. </p>
<dl class="section note"><dt>注解</dt><dd>Only voxels containing a sufficient number of points are used. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the given query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">k</td><td>the number of neighbors to search for </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_leaves</td><td>the resultant leaves of the neighboring points </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        k_leaves.clear ();</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        <span class="comment">// Check if kdtree has been built</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>)</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;%s: Not Searchable&quot;</span>, this-&gt;<a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="comment">// Find k-nearest neighbors in the occupied voxel centroid cloud</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        std::vector&lt;int&gt; k_indices;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        k = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.nearestKSearch (point, k, k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="comment">// Find leaves corresponding to neighbors</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        k_leaves.reserve (k);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator iter = k_indices.begin (); iter != k_indices.end (); iter++)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          k_leaves.push_back (&amp;<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>[<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>[*iter]]);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">return</span> k;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a6be928c24b72e60e272a755c91ddcf62"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6be928c24b72e60e272a755c91ddcf62">&#9670;&nbsp;</a></span>radiusSearch() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::radiusSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_leaves</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_nn</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Search for all the nearest occupied voxels of the query point in a given radius. </p>
<dl class="section note"><dt>注解</dt><dd>Only voxels containing a sufficient number of points are used. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the given query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>a valid index in cloud representing a valid (i.e., finite) query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td>the radius of the sphere bounding all of p_q's neighbors </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_leaves</td><td>the resultant leaves of the neighboring points </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_nn</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      {</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        <span class="keywordflow">if</span> (index &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()) || index &lt; 0)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">radiusSearch</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], radius, k_leaves, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a5d605050ddda36d46f286a10469e26c1"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">pcl::VoxelGridCovariance::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; LeafConstPtr &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</div><div class="ttdoc">Search for all the nearest occupied voxels of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:468</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a5d605050ddda36d46f286a10469e26c1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5d605050ddda36d46f286a10469e26c1">&#9670;&nbsp;</a></span>radiusSearch() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::radiusSearch </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_leaves</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>k_sqr_distances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_nn</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Search for all the nearest occupied voxels of the query point in a given radius. </p>
<dl class="section note"><dt>注解</dt><dd>Only voxels containing a sufficient number of points are used. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the given query point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td>the radius of the sphere bounding all of p_q's neighbors </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_leaves</td><td>the resultant leaves of the neighboring points </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">k_sqr_distances</td><td>the resultant squared distances to the neighboring points </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_nn</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of neighbors found </dd></dl>
<div class="fragment"><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      {</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        k_leaves.clear ();</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        <span class="comment">// Check if kdtree has been built</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;%s: Not Searchable&quot;</span>, this-&gt;<a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        <span class="comment">// Find neighbors within radius in the occupied voxel centroid cloud</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        std::vector&lt;int&gt; k_indices;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        <span class="keywordtype">int</span> k = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.radiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <span class="comment">// Find leaves corresponding to neighbors</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        k_leaves.reserve (k);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator iter = k_indices.begin (); iter != k_indices.end (); iter++)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        {</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;          k_leaves.push_back (&amp;<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>[<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>[*iter]]);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordflow">return</span> k;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="ac037ac44ecd562b521de4f90621830fe"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac037ac44ecd562b521de4f90621830fe">&#9670;&nbsp;</a></span>setCovEigValueInflationRatio()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setCovEigValueInflationRatio </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>min_covar_eigvalue_mult</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_covar_eigvalue_mult</td><td>the minimum allowable ratio between eigenvalues </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a> = min_covar_eigvalue_mult;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a50572b27b4087e87dfc1087795210f3c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a50572b27b4087e87dfc1087795210f3c">&#9670;&nbsp;</a></span>setMinPointPerVoxel()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setMinPointPerVoxel </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>min_points_per_voxel</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_points_per_voxel</td><td>the minimum number of points for required for a voxel to be used </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordflow">if</span>(min_points_per_voxel &gt; 2)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a> = min_points_per_voxel;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;%s: Covariance calculation requires at least 3 points, setting Min Point per Voxel to 3 &quot;</span>, this-&gt;<a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a> = 3;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="voxel__grid__covariance_8h_source.html">voxel_grid_covariance.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="voxel__grid__covariance_8hpp_source.html">voxel_grid_covariance.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_voxel_grid_covariance.html">VoxelGridCovariance</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
